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The translational oscillation with a rotational actuator (TORA) system has been used as a benchmark for motivating the study of nonlinear control techniques. In this paper, modeling and control of a novel 2-dimensional TORA (2DTORA) are presented. The 2DTORA is an underactuated mechanical system which has one actuated rotor and two unactuated translational carts. The dynamics of the 2DTORA system...
This paper studies a type of dynamically moving robot modeling a long armed ape's locomotion which called brachiation robot. Brachiating is the hand over hand swinging locomotion used by various primates, especially the long armed apes, and the manner of moving like a long armed ape is called brachiation. By analyzing the behavior of the long armed ape, which moves from branch to branch swinging its...
Brachiating is the hand over hand swinging locomotion used by various primates, especially the long armed apes. By analyzing the behavior of gibbon, which moves from branch to branch swinging its body like a pendulum, the basic principle and brachiating control of the simplified two-link gibbon-type robot is studied. Based on Lagrange equations and analyzing the postural characteristic of gibbon a...
This paper presents a switching control scheme for underactuated cart-pole system. The control task is to bring the pole to the upper unstable equilibrium position with converging the cart displacement to zero, and it is separated into two parts: aggressive swing-up the pole from the under plane into the upper plane and stabilizing the pole to its upper unstable equilibrium point with regulating the...
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